When in my pre-teen years I was repeatedly grabbed in normal kid play in the crotch by a neighbor kid. He was a very "physical" kid for a time and he pushed "touching" far beyond what I felt as a pre-pubertal kid was appropriate. He meant no harm and we are still friends to this day because it was a kid phase for him. The problem with it was that well into my teens I reflexively recoiled when I was touched by anyone good or bad and I also had very uncomfortable feelings from this. What fixed the behavior for me was college Psych classes. I had a ton of them and as usually happens I began to come to terms with what had happened. I would not call what happened to me molestation in any way because the kid simply had no real understanding himself of what he was doing at that age. What I did after that was to literally force myself to touch others and I invited touch from others. At the time in my late teens it was very difficult for me, but, I had to re-educate my mind and most importantly "sub-conscious" mind that touch was not going to tickle or hurt me in any way. On my own road to recovery I discovered that touch done in the right way was in fact calming and had nearly the opposite effect.
When we took in our kid at at age 18 his former family life had done much the same thing to him. In the beginning he would be creeped out if I leaned down over his shoulder to help him with some problem, to read something on a computer screen, to look at a paper he was writing, and so forth. Physical touch made him very uncomfortable. When he decided to go into a short term career in bodybuilding we both realized that he absolutely positively had to overcome his fear of touch. The kid had a great foundation before bodybuilding to work with. At the same time the psychological damage he had suffered created a fear of body exposure. In the heat of summer he would dress like "Nanook of the north" and never expose skin. This was another factor with him. Again in the sport of bodybuilding this created a type of tension that was not normal and had to be overcome. He would not ever wear shorts because they showed his legs and psychologically he was uncomfortable with this in the beginning.
We took it all in stages. In the beginning a great deal of talking took place. In the home we encouraged nudity for all of us so that he could get used to the idea of the human body. It was difficult for him in the beginning but it was a beginning of overcoming his body image problems. As the bodybuilding has progressed and after some therapy he now could care less about being touched. He is becoming more and more comfortable with the person he is. He now wears shorts exposing the same fur covered legs that he feared exposing and he is proud of both the fur and the calves.
You've already done the first thing and that is to admit the existence of a problem. Needing therapy on it is dependent on your own ability to know what to do to overcome irrational fears.
I nearly drowned when I was between 3 or 4 years old. The incident caused extreme fear of water under certain conditions which I have to this day. The difference is that as an adult I learned to swim and forced myself to do things in water to realize that placing my face under water was not going instantly result in death. I may not be comfortable in water, but I have conquered the part of the fear that created the dysfunctional aspects of that fear on my life. In fact, though I still don't go swimming often and don't like it, I am a decent swimmer for an old dude if I am forced into it and I really love white water river rafting.
You can overcome this yourself if you look back in your life and see if you can find the cause. Talk to your Mom about it and tell her what has happened and about your feelings and the way you feel when touched. There may be some event that created this that she or another relative may have observed in your lifetime. Hey, it worked for me my friend and I really sympathize with you. Some people would tend to minimize it, but having been there I am not one of them. We are probably different personalities, but if you want to PM me at any point please feel free to do so.